\documentclass{beamer}

\usefonttheme{serif}
\useoutertheme[subsection=false]{smoothbars}
\useoutertheme[footline=authortitle,subsection=false]{miniframes}
\useinnertheme[shadow=true]{rounded}
\usecolortheme{whale}
\usetheme{Frankfurt}

\setbeamercolor*{palette primary}{use=structure,fg=white,bg=structure.fg}
\usepackage{times}

\usepackage{fancybox,calc}
\usepackage{rotating}
\usepackage{amsmath,amssymb,amsfonts}
\usepackage{amscd,amsthm}
\usepackage{mathrsfs}
\usepackage{diagrams}
\usepackage{float}
\usepackage{subfig}

\usepackage{graphicx}
\graphicspath{{./figures/}}
\DeclareGraphicsExtensions{.pdf}


\diagramstyle[PS,nohug,balance,dpi=1250]
\newarrow{Cof}{>}{-}{-}{-}{>}
\newarrow{Fib}{-}{-}{-}{-}{>>}
\newarrow{Eq}{=}{=}{=}{=}{=}
\newarrowhead{=>}\Rightarrow\Leftarrow\Downarrow\Uparrow
\newarrow{Imply}===={=>}
\newarrow{Corresponds}<--->

\usepackage{multimedia}

\usepackage{meen652_macros}

\definecolor{cscolor}{RGB}{0,176,80}
\definecolor{pcscolor}{RGB}{149,55,53}
\definecolor{sdcolor}{RGB}{112,48,160}
\definecolor{lzcolor}{RGB}{255,192,0}
\definecolor{spcolor}{RGB}{79,129,189}

\definecolor[named]{a-green}{RGB}{107,230,58}
\definecolor[named]{ua-red}{RGB}{255,124,128}


%\makeatletter
%\renewcommand{\p@subfigure}{}
%\renewcommand{\@thesubfigure}{}
%\makeatother

\newcommand{\Gcomp}{G_{\mathrm{comp}}}
\newcommand{\Rcomp}{R_{\mathrm{comp}}}

\newcommand{\FQ}{{\bf FQ }}
\newcommand{\N}{\mathbb{N}}
\newcommand{\Rp}{\mathbb{R}_{0}^+}
\newcommand{\Rptwo}{(\Rp)^{2}}
\newcommand{\Y}{Q}
\newcommand{\y}{q}

\newcommand{\B}{\mathbf{B}}
\newcommand{\QB}{\Y_{\B}}
\newcommand{\LB}{L_{\B}}
\newcommand{\hB}{h_{\B}}

\newcommand{\Pend}{\mathbf{P}}
\newcommand{\QP}{\Y_{\Pend}}
\newcommand{\LP}{L_{\Pend}}
\newcommand{\hP}{h_{\Pend}}



\definecolor[named]{berkeleydarkyellow}{RGB}{242,204,76}
\definecolor[named]{berkeleylightyellow}{RGB}{255,255,255}
\definecolor[named]{white}{RGB}{255,255,255}
\definecolor[named]{black}{RGB}{0,0,0}
\definecolor[named]{berkeleydarkblue}{RGB}{0,0,102}
\definecolor[named]{berkeleymiddleblue}{RGB}{38,38,134}
\definecolor[named]{berkeleylightblue}{RGB}{77,77,148}
\definecolor[named]{gray}{RGB}{204,204,204}
\definecolor[named]{darkgray}{RGB}{118,118,118}
\definecolor[named]{berkeleygold}{RGB}{199,136,18}

\definecolor[named]{blue}{RGB}{38,38,134}
\definecolor[named]{darkblue}{RGB}{0,0,102}
\definecolor[named]{lightblue}{RGB}{77,77,148}


\newtheorem{misc}{}
\newtheorem{quotes}{Quote}
\newtheorem{claim}{Claim}
\newtheorem{observation}{Observation}
\newtheorem{goal}{Goal}
\newtheorem{objective}{Objective}
\newtheorem{dobjective}{Design Objective}
\newtheorem{dobjectives}{Design Objectives}
\newtheorem{challenge}{Challenge}
\newtheorem{JO}{Jaap van Oosten}
\newtheorem{zeno}{Zeno}
\newtheorem{conjecture}{Conjecture}
\newtheorem{composition}{Composition}
\newtheorem{question}{Question}
\newtheorem{proposition}{Proposition}
\newtheorem{thesis}{Thesis}
\newtheorem{mainresult}{Main Result}
\newtheorem{simresulta}{2D Simulation Result}
\newtheorem{mainidea}{Main Idea}
\newtheorem{maintheorem}{Main Theorem}
\newtheorem{cor}{Corollary}
\newtheorem{propertyfour}{Property IV}
\newtheorem{classicalreduction}{Classical Reduction Theorem}
\newtheorem{hybridreduction}{Hybrid Reduction Theorem}
\newtheorem{assumption}{Assumption}
\newtheorem{assumptions}{Assumptions}
\newtheorem{cused}{Controllers Used}
\newtheorem{remark}{Remark}


\newtheorem{continuousconditions}{Continuous Conditions}
\newtheorem{eventconditions}{Event Conditions}
\newtheorem{discreteconditions}{Discrete Conditions}


\title[Robust Bipedal Walking]{Robust Bipedal Walking: An Application of LQR}
\author[R.~W. Sinnet, E. Rodriguez, N. Mohsenizadeh and S. Liang]{R.~W. Sinnet, E. Rodriguez, N. Mohsenizadeh and S. Liang}
\institute[Texas A\&M]{Dept. of Mechanical Engineering\\ Texas A\&M University}
\date{May 4, 2012}

\begin{document}

\frame[plain]{
  \titlepage
}

\include{sections/introduction}
\include{sections/hybrid_models}
\include{sections/controller_design}
\include{sections/system_analysis_OL}
\include{sections/system_analysis_CL}
\include{sections/simulation}
\include{sections/future}

\end{document}
